C LNG VN TC S DNG PHP O V TR Tm lc: o lng vn tc thng c cn trong vic thit k h thng iu khin ca nhng my c kh c s dng cnh tay

robot. Tuy nhin, vic o/c lng chnh xc vn tc l mt thch thc ln, c bit l i vi nhng chuyn ng rt chm. C mt vi phng php c cng b c lng vn tc t php o vi tr, in hnh l ng ra ca incremental optical encoder. Trong cng vic hin ti, mt phng php n gin v hiu qu c ngh c lng vn tc t mt chui xung ca incremental encoder. Da trn c tnh vt l ca incremental encoder, phng php ngh cho php ngi s dng c lng chnh xc, iu chnh thi gian tr v phng php ny yu cu t php tnh hn cc phng php khc. Phng php ngh c th nghim kim chng trn cnh tay robot iu khin trc tip. Mt b chun ha bng lazer ngoi c s dng tm c vn tc chun chnh xc dung so snh. Kt qu th nghim kim chng c li ch ca phng php ny. Gii thiu iu khin h my c kh s dng cnh tay robot thng yu cu o vn tc nh trong cc phng php iu khin PID, iu khin thch nghi v bn vng. Tuy nhin, trong luyn tp, qu l mt thch thc khi mun o hoc c lng chnh xc vn tc, c bit i vi nhng chuyn ng rt chm. Nhng my o vn tc thng thng v o vn tc da trn encoder thng c sn sn phm thng mi nhng thng cung cp nhng ng ra khng thch hp ti vn tc rt nh do nhiu v phn gii thp. Trong gio khoa, nhng phng php khc nhau c dung o/c lng vn tc t php o v tr, in hnh l ng ra ca optical encoder. Phng php c lng vn tc n gin nht l phng php xp x Euler: ly hiu s gia hai v tr ly mu cui cng chia cho chu kz ly mu. Khi v tr c ly mu ng, phng php xp x Euler ny cho ta cch c lng vn tc n gin v hiu qu nht. Tuy nhin, vi chui xung encoder, cc v tr ly mu cha nhng sai s ngu nhin, s gy nn sai s trong kt qu khi chu kz ly mu nh v tc ni s chm. lm gim sai s ca vn tc, c mt cch hiu qu l tng position increment bng cch li li vi bc v sau s dng xp x Euler. Trong khi s b tr ny c th lm cho s c lng vn tc tr nn mt hn n cng gy nn mt khong thi gian tr vn tc c lng. S bc li c chn cn thn ng nht mc nhiu v thi gian tr. phng trnh (3), ba bc l tt nht cho vic ly mu tn s 2500Hz vi encoder c phn gii 655360 xung. phng trnh (2), c ngh rng s bc li li nn c iu chnh thch ng vi nhng vn tc khc nhau v phng php ca s thch nghi ri rc c s dng trong vic c lng vn tc. Vi observer cng c ngh s dng trong php o vn tc ny nh l b lc Kalman tuyn tnh (1), vi iu kin gi

nh phn b Gaus ca sai s v tr ly mu. Mt vi b observers phi tuyn s dng phng trnh ng hc ca i tng (4.6). Hu ht cc ti liu v c lng vn tc trnh by v kt qu m phng chng minh c tnh hiu qu ca nhng phng php c ni ti. There are notwork. Trong cng vic hin ti, mt phng php n gin v hiu qu c ngh c lng vn tc t mt chui xung ca incremental encoder. Da trn c tnh vt l ca incremental encoder, phng php ngh cho php ngi s dng c lng chnh xc, iu chnh thi gian tr v phng php ny yu cu t php tnh hn cc phng php khc. Tnh hiu qu ca phng php ny c th nghim kim chng thng qua vic s dng cnh tay robot iu khin trc tip v b chun ha dng lazer ngoi o vn tc chun. Phn cn li ca bi bo co ny c sp xp nh sau: Phn 2 trnh by v phng php c lng vn tc cp. Thit t th nghim c m t v kt qu c lng vn tc c phn tch phn 3. Kt lun c rt ra phn 4. II. Phng php c lng vn tc. Nh sn xut encoder v motor thng thng cung cp thng s N tng s xung trn phn gii. Nu chui xung encoder u th phn gii ca encoder l R=2pi/N. S chnh xc ca vic c lng vn tc i vi encoder cho c rng buc bi phn gii ca encoder cng nh l u ca chui xung ng ra. Thut ton tt nht c lng vn tc phi tn dng c nhng li ch ca ng ra encoder . Cng vy, phng php c lng vn tc tt phi (cung cp) cho php ngi s dng iu chnh s cn bng gia chnh xc v thi gian tr. Cho mt incremental encoder vi phn gii l R, v tr q(t) c ly mu vi chu kz ly mu T, v cho k=1,2, cc v tr ly mu ri rc khong thi gian kT c biu th l ( ). Nu chui xung ng ra l u, sai s v tr kt hp vi ( ) c th c biu din: | ( ) ( )| ) (( (1) ) ) ta c

Cho mt chu kz jT, j=1,2, v j<k, v mt khong v tr tng ng ( |( ( ) (2) Do : |

( ( ) ( )) ( ( ) (( ) )

))

( (

((

) )|

(3) T

((

) )

(4)

L tc trung bnh trong khong thi gian ((k-j)T, kT), v

( ) ( )

s dng d liu ly mu ( ) v (

(5) ) t phng trnh (3), ta c: (6)

L hm c lng ca | |

Nu ta nh ngha phn gii ca vn tc c lng l (7) L mt hng s khi phn gi R ca encoder v chu kz ly mu khng i. Phng trnh (6) c th c vit li di dng | | (8) C th thy t phng trnh (8) chnh xc tuyt i ca vn tc c lng trung bnh c th b lm gim khi ta tng s bc li j, iu ny ph hp vi nh hng chung. Tuy nhin, hu ht cc sai s tng i c quan tm nhiu hn chnh xc tuyt i. Sai s tuyt i c nh ngha bi: | | | ( ) ( ) ( ) )| (9) ( ) (( ( ) ) ) | | ( ) ( ) |

| ( )

T hiu s gia cc v tr ly mu c th c biu din di dng:

| ( )

)| (

(10) ). T

Trong l mt s nguyn c tr s l s xung encoder nm gia ( ) v phng trnh (9), ta c

( )

| ( )

)|

(11)

Phng trnh (11) ch ra rng chnh xc tng i c th b gii hn bi gi tr . Cho chnh xc tng i c th , gi tr tng ng c th c tnh nh sau: (12) V d, gii hn chnh xc tng i , 100 xung phi c ghi nhn.

c lng vn tc da trn nhng phn tch trn, bc cui cng l xc nh s bc j tng ng vi s xung encoder . ng nhin, s bc j ph thuc vo tc chuyn ng. Nhiu xung encoder s c pht ra tc cao hn cho bt kz chu kz no. tc chm, nhiu bc c ghi nhn (trace back) cho mt lng xung ging nhau. Mt thut ton tm kim n gin c th nhn dng s j c trnh by trn hnh 1. Tuy nhin, cng nn lu { rng khi on ni (joint) khng di chuyn hoc di chuyn tc rt chm, s bc j c th rt ln hoc khng c nhn dng. x l vn ny, chng ta xut mt gii hn ti a m cho s bc j ( ). D nhin iu kin rng buc ny cng lm gii hn chnh xc tng i , l c th khng nh mt cch ty mt khi m c chn. Da trn nhng phn tch trn, phng php c lng vn tc c tm lc theo nhng bc sau: Bc 1: Xc nh phn gii R ca encoder. Bc 2: Ch r chnh xc tng i ti a Bc 3: Tnh ton s xung tng ng s dng phng trnh (12).

Bc 4: Chn s bc backward ln nht m. Bc 5: Tm kim bc j v tnh vn tc c lng theo qu trnh nh trong s hnh 1.

Nhng nhn xt sau y s lm sng t kh nng p dng ca phng php. Nhn xt 1: Phng php c lng vn tc trnh by cho php ngi s dng iu chnh/c th chnh xc tng i , v s bc backward tng ng c xc nh trong thi gian thc, thch nghi mt cch t ng vi s bin i tc chuyn ng ca i tng. Theo ngha ny, thut ton trnh by c s thch nghi i vi nhng tc chuyn ng khc nhau. Nhn xt 2: Phng php c lng vn tc s dng xp x Euler l mt s c lng vn tc trung bnh trong mt khong chu kz c nh ngha nh phng trnh (5). chnh xc tng i l mt thc o s gn gi ca gi tr vn tc c lng trung bnh vi gi tr vn tc thc trung bnh trong cng khong chu kz.Vic xp x vn tc tc thi vi vn tc trung bnh l mong mun rng chu kz cng ngn cng tt. iu ny cng c bit n nh s cn bng gia chnh xc v thi gian tr. Thi gian tr di dn n vic c lng vn tc tc thi khng chnh xc. Nhn xt 3: Trong nhng phn tch trn, cho n gin, ta gi s rng chui xung ca encoder l u. Trn thc t, kh c th c c chui xung u hon ho ( l l do ti sao tng s xung ca encoder c c t cho encoder thay cho phn gii). Nu sai s v tr ly mu gy bi chui xung khng u th phn gii R ca encoder trong phng trnh (1) c

thay th bi rng xung ti a c lng vn tc. Khi hn.

cng nh trong cc phn tch tip theo v trong thut ton n tng ng vi mt encoder c phn gii thp

Nhn xt 4: Thut ton tm kim c phc tho trn hnh 1 cn mt t thi gian my tnh thc thi. Thi gian c th c rt ngn bng cch bt u tm kim vi s j c nhn dng trong chu kz ly mu cui cng. III. Kt qu th nghim Phng php c lng vn tc c th nghim kim chng thng qua vic s dng cnh tay robot iu khin trc tip, c iu khin bi my tnh vi chu kz ly mu 1 ms. Cnh tay robot c kch hot bi mt ng c dc iu khin trc tip ti mi khp ni. Cho mc ch ca th nghim tnh ton vn tc, ch mt trong hai khp c iu khin di chuyn tc khc nhau trong khi khp kia l c nh. Cc v tr c c t optical encoder c lu tr trong mt tp tin d liu phn tch bng cch s dng MATLAB. ng c li cng c mt mch in t phn bit mt cch trc tip chui xung t encoder v cung cp vn tc trc quay c lu tr trn tp tin d liu so snh. Encoder ca ng c c th pht 1024000 xung trn mt phn gi, hay phn gii l radian gi s rng chui xung l u. Cho vic th nghim kim chng, iu quan trng l xc nh chnh xc m phng php c th t c nh gi tnh hiu qu ca n, v mt cch thuyt phc t c chnh xc chun so snh l s dng mt thit b o vn tc ngoi vi chnh xc cao hn. Cho mc ch ny, mt b chun ha lazer c tch hp vo h thng th nghim. Vi mt module giao tip ty chnh v phn mm thi gian thc, b chun ha cung cp php o ng s tng v tr v d liu cng c lu tr trong tp tin trn my tnh. Vi b chun ha v tr c ng cao, vn tc tuyn tnh ca lazer phn x c gn trn cnh tay robot c th c tnh n gin dng xp x Euler, sau c chuyn i thnh vn tc gc ca khp ni robot lm tham chiu cho vic kim chng c lng vn tc t chui xung encoder . Hnh 3-5 trnh by kt qu ca phng php c lng vn tc s dng d liu th nghim, so snh vi vn tc o c bng b chun ha lazer. Hnh 3 trnh by kt qu vn tc thp. Hnh 4 trnh by kt qu khi khp ni robot ang tng tc v kt qu khi khp ni gim tc c trnh by hnh 5. Kt qu th nghim chng minh tnh hiu qu ca phng php ny.

Vn tc c lng gn vi vn tc trung bnh tnh c t b chun ha lazer. ng nh mong i, vn tc c lng c c mt khong thi gian tr t vn tc thc o c t b chun ha lazer. Thi gian tr di hn tc chm hn v ngn hn tc nhanh hn. Php o vn tc bng ng c khng tt bng vic c lng vn tc s dng phng php nu trn tc thp. K c tc cao kt qu c lng vn tc cng c th so snh c t b phn bit in t tn s ly mu 1kHz. Hnh 6 trnh by s nh hng ca gi tr chnh xc tng i nh hng n kt qu c lng vn tc, n chng minh rng vic chn chnh xc tng i ln hn cho kt qu vn tc c lng mt hn nhng vi thi gian tr di hn.

IV. Kt lun Trong bi bo co ny, mt phng php hiu qu v n gin c trnh by c lng vn tc t chui xung c ly mu t incremental encoder. Da trn c trng vt l ca encoder, phng php cp cho php ngi dng iu chnh ng v thi gian tr khi c lng v yu cu t php ton hn cc phng php khc. Tnh hiu qu ca phng php c chng minh thng qua th nghim vi cnh tay robot v b chun ha lazer. Mt cuc iu tra so snh th nghim c tin hnh phng nghin cu ca chng ti vi nhiu phng php o vn tc khc nhau. Kt qu so snh xc nhn tnh hiu qu v n gin ca phng php chng ti cp. Ti liu tham kho 1. G.Liu, On Velocity Estimation Using Position Measurements , Proceeding of the Amerian control Conference, Anchorage, AK May 8-10,2002 2. P.R. Belanger, P. Dobrovolny, A. Helmy, and X.Zhang, Estimation of angular velocity and acceleration from shaft ecode measurements, International Journal of Robotics Research, Vol. 17, No. 11, 1998, pp. 1225-1233. 3. F. Janabi-Sharifi, V. Hayward, and C.J. Chen, Discrete time adaptive windowing for velocity estimation, IEEE Transaction on Control Systems Technology, Vol. 8, No. 6, 2000, pp. 1003 -1009.

4. A. Jaritz and M.W. Spong, An experimental comparison of robust control algotrithms on a direct drive manipulator, IEEE Transactions on Control Systems Technology, Vol. 4, No. 6, 1996, pp. 627 -640. 5. K. Kaneko and R. Horowitz, Repetitive and adaptive control of robot manipulators with velocity estimation, IEEE Transaction on Robotics and Automation, Vol. 13, No.2, 1997, pp. 204 217. 6. G. Liu and A.A. Goldengerg, Comparative Study of Robust Saturatiion Control of Robot manipulators: Analysis and Experiments, International Journal of Robotics Research, Vol. 15, No. 5, 1996, pp. 473-491. 7. R. Martinez-Guerra, A.Poznyak, E. Gortcheva and V. Diaz de Leon, Robot angular link velocity estimation in the presence of high-level mixed uncertainties, IEE Proceedings of Control Theory Applocation, Vol. 147, No.5, 2000, pp. 515-522. 8. Y.Zhang, G. Liu and A.A. Goldengerg, Friction Compensation with Estimated Velocity, to appear in the Proceedings of IEEE International Conference on Robotics and Automation, Washington DC, May 11-14, 2002.